Realization of Low-Cost IMU/GPS Integrated Navigation System

The paper focuses on the IMU (inertial measurement unit)/GPS (Global Position System) integrated navigation system data processing methods. Firstly, the EMU error equations in the Earth fixed coordinates are introduced. Then, a fading Kalman filter is simply introduced and its shortcomings are analyzed. Further, an adaptive filter is applied in low-cost IMU/GPS integrated navigation system, in which the adaptive factor is constructed based on the predicted residuals. Finally, a practical example is given. The results have shown that the adaptive filter is valid and reliable when applied in IMU/GPS integrated navigation system